# ---------------------------
# Constants and configuration
# ---------------------------

# Node information
# ----------------
NODE_NAME = 'geometric_image_filter'
BASE_FRAME = '/base_footprint'

IMAGE_TOPIC = 'image'
STEREO_PT_CLOUD_TOPIC = 'stereo'
CAMERA_INFO_TOPIC = 'info'
LASER_SCAN_TOPIC = 'laser'
FILTERED_IMAGE_TOPIC = 'filtered_image'

# Time tolerance constants
# ------------------------
IMG_CAMINFO_TOLERANCE_S = 2.0
IMG_STEREO_TOLERANCE_S = 2.0
IMG_LASER_TOLERANCE_S = 2.0

# Physical constants:
# ------------------
MIN_HEIGHT_M = 1.35
MAX_HEIGHT_M = 1.65
MIN_SIZE_M = 0.05
MAX_SIZE_M = 0.17
MAX_DEPTH_M = 8.0

WINDOW_SCALE_FACTOR = 1.2
